Triangle Descriptor Loop Detection Method Based on Faster-LIO
This paper introduces an enhanced approach to loop closure detection in Simultaneous Localization and Mapping (SLAM) by integrating the Faster-LIO framework with Stable Triangle Descriptors (STD). SLAM, essential in autonomous driving and augmented reality, often encounters cumulative errors affecti...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2024-05-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-4-W10-2024/183/2024/isprs-archives-XLVIII-4-W10-2024-183-2024.pdf |